%%
clear;clc
%% 系统转动惯量计算
%电机转动惯量(kg*m^2)
Jm = 128e-7

%同步轮转动惯量
Mw = 5.1e-3 %同步轮质量 kg
Dw = 12e-3; %同步轮直径 m
Jw = 1/8*Mw*Dw^2%同步轮转动惯量


%喷头机构等效转动惯量
ML = 0.6;%运动部件质量 kg
JL = ML*(Dw/2)^2

Jtotal = Jm + Jw + JL

%%电机扭矩系数计算
Uupper = 17.3;
Vrpm_upper = 2000;
Ulower = 0.93;
Vrpm_lower = 100;

Ke = (Uupper - Ulower)/((Vrpm_upper - Vrpm_lower)/60*2*pi)
Kt_cal = sqrt(3)*Ke
Kt = 0.1975

%% b0计算
b0 = Kt/Jtotal